Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/13576
Title: | Fiber Bragg Gratings in CYTOP Fibers Embedded in a 3D-Printed Flexible Support for Assessment of Human⁻Robot Interaction Forces | Authors: | Leal-Junior, Arnaldo Theodosiou, Antreas Díaz, Camilo Marques, Carlos Pontes, Maria José Kalli, Kyriacos Frizera-Neto, Anselmo |
Major Field of Science: | Engineering and Technology | Field Category: | Materials Engineering | Keywords: | Fiber Bragg gratings;Polymer optical fiber;Wearable devices;Soft materials;Additive layer manufacturing | Issue Date: | 2018 | Source: | Materials, 2018, vol. 11, no. 11 | Volume: | 11 | Issue: | 11 | Journal: | Materials | Abstract: | We developed a flexible support with embedded polymer optical fiber (POF) sensors for the assessment of human⁻robot interaction forces. The supports were fabricated with a three-dimensional (3D) printer, where an acrylonitrile butadiene styrene (ABS) rigid structure was used in the region of the support in which the exoskeleton was attached, whereas a thermoplastic polyurethane (TPU) flexible structure was printed in the region where the users placed their legs. In addition, fiber Bragg gratings (FBGs), inscribed in low-loss, cyclic, transparent, optical polymer (CYTOP) using the direct-write, plane-by-plane femtosecond laser inscription method, were embedded in the TPU structure. In this case, a 2-FBG array was embedded in two supports for human⁻robot interaction force assessment at two points on the users' legs. Both FBG sensors were characterized with respect to temperature and force; additionally, the creep response of the polymer, where temperature influences the force sensitivity, was analyzed. Following the characterization, a compensation method for the creep and temperature influence was derived, showing relative errors below 4.5%. Such errors were lower than the ones obtained with similar sensors in previously published works. The instrumented support was attached to an exoskeleton for knee rehabilitation exercises, where the human⁻robot interaction forces were measured in flexion and extension cycles. | ISSN: | 19961944 | DOI: | 10.3390/ma11112305 | Rights: | © by the authors. | Type: | Article | Affiliation : | Federal University of Espirito Santo Cyprus University of Technology University of Aveiro |
Appears in Collections: | Άρθρα/Articles |
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materials-11-02305-v2.pdf | Fulltext | 3.94 MB | Adobe PDF | View/Open |
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